Simulation with Smart TP

This method enables to simulate the robot motion of created programs by using the smart TP, without moving the actual robot.

1

From the shortcut menu, tap the [MLock] button to set the robot in machine lock.
The [MLock] lamp turns on.

2

Press [F1 Program].

3

Select the program to be started.

The selected program will be highlighted.

4

Press [Display] to display the program.

5

Press the [Robot] button on the left side of the window to display the arm view.

6

Select [Start] button.

7

The system message will appear. Select a starting method and then press [OK]. In this example, select [Continuously].

8

The robot image in the arm view moves along with the program.

There are three ways to stop the robot motion.
To reset the program which is under execution, press [RESET] button.

• Halt :
  Executing the halt immediately interrupts the running task program selected or all running task programs midway the moment [F1 Halt] or [STOP] button is pressed, respectively.
• Step Stop :
  Executing the step stop interrupts the running task program midway after executing the step in which the step stop key is pressed.
• Cycle Stop :
  Executing the cycle stop stops the robot after executing the last step of the task program. This is used when the robot is continuously started.